pcl拟合曲线 open3d 可视化曲线

以下是使用pcl拟合曲线并使用open3d可视化的示例代码：

import open3d as o3d
import numpy as np
import pclpy
from pclpy import pcl

# 生成点云数据
points = np.array([[0, 0, 0],
                   [0.1, 0.1, 0.1],
                   [0.2, 0.2, 0.2],
                   [0.3, 0.3, 0.3],
                   [0.4,0.4, 0.4],
                   [0.5, 0.5, 0.5],
                   [0.6, 0.6, 0.6],
                   [0.7, 0.7, 0.7],
                   [0.8, 0.8, 0.8],
                   [0.9, 0.9, 0.9]])

# 将点云数据转换为pcl格式
cloud = pcl.PointCloud.PointXYZ(points)

# 使用pcl进行曲线拟合
b_spline = pcl.surface.BSplineSurface()
b_spline.setInputCloud(cloud)
b_spline.setOrder(3)
b_spline.setNumCtrlPoints(10, 1)
b_spline.setNumKnots(10, 1)
b_spline.setCtrlPoint(0, 0, pcl.PointXYZ(0, 0, 0))
b_spline.setCtrlPoint(1, 0, pcl.PointXYZ(0.1, 0.1, 0.1))
b_spline.setCtrlPoint(2, 0, pcl.PointXYZ(0.2, 0.2, 0.2))
b_spline.setCtrlPoint(3, 0, pcl.PointXYZ(0.3, 0.3, 0.3))
b_spline.setCtrlPoint(4, 0, pcl.PointXYZ(0.4, 0.4, 0.4))
b_spline.setCtrlPoint(5, 0, pcl.PointXYZ(0.5, 0.5, 0.5))
b_spline.setCtrlPoint(6, 0, pcl.PointXYZ(0.6, 0.6, 0.6))
b_spline.setCtrlPoint(7, 0, pcl.PointXYZ(0.7, 0.7, 0.7))
b_spline.setCtrlPoint(8, 0, pcl.PointXYZ(0.8, 0.8, 0.8))
b_spline.setCtrlPoint(9, 0, pcl.PointXYZ(0.9, 0.9, 0.9))
b_spline.initCompute()

# 将拟合曲线转换为numpy数组
curve_points = np.zeros((100, 3))
for i in range(100):
    u = i / 99.0
    curve_points[i] = b_spline.getPoint(u, 0)

# 将拟合曲线可视化
curve = o3d.geometry.LineSet()
curve.points = o3d.utility.Vector3dVector(curve_points)
curve.lines = o3d.utility.Vector2iVector(np.array([[i, i+1] for i in range(99)]))
o3d.visualization.draw_geometries([curve])